Development and Evaluation of Proportional-Derivative, Proportional-Derivative with Friction Compensation, Inverse-Dynamics, and Sliding-Mode Control Strategies for Trajectory-Tracking in Robotic Manipulators
In this paper, four control strategies are developed and evaluated for the trajectory-tracking of a two-degree-of-freedom SCARA-type robotic manipulator: (i) a proportional-derivative controller (PD), (ii) a proportional-derivative controller with friction compensation (PD + G), (iii) an inverse-dynamics controller and (iv) a sliding-mode controller with a dynamic model (SMCD).
Authors
- Paulo Leica (ORCID: https://orcid.org/0000-0002-5385-1920)
- N. Medrano (ORCID: https://orcid.org/0000-0002-5380-3013)
- Gabriela M. Andaluz
- David Castellanos Robles (ORCID: https://orcid.org/0000-0002-3835-6243)
- Yuliana Chicay
- Marjorie Pilatasig
Institutions
- Universidad de Zaragoza (ES)
- National Polytechnic School (EC)
Publication Details
- Published
- 2024-11-18
- DOI
- https://doi.org/10.3390/engproc2024077018
- Primary Topic
- Vehicle Dynamics and Control Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Escuela Politécnica Nacional